whole-body-controllers
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robotology
Error running floatingBaseBalancingTorqueControlWithSimulator.torqueControlBalancingWithSimu using released version of whole-body-controllers and matlab-whole-body-simulator
I tried to run the floatingBaseBalancingTorqueControlWithSimulator by just running floatingBaseBalancingTorqueControlWithSimulator.torqueControlBalancingWithSimu as documented in https://github.com/ami-iit/matlab-whole-body-simulator/tree/ac47383e3c04cd0cfd0ab11e2479b7991be9f491#eyes-checking-the-installation, and the simulation is failing with error:
Unable to resolve the name mwbs.Utils.Rp2H.
This are the version of the dependency that are installed:
(mwbs) C:\Users\STraversaro>mamba list
# packages in environment at C:\Users\STraversaro\AppData\Local\mambaforge\envs\mwbs:
#
# Name Version Build Channel
ace 7.0.6 h0e60522_0 conda-forge
assimp 5.2.3 hc2aa0de_1 conda-forge
asttokens 2.0.5 pyhd8ed1ab_0 conda-forge
backcall 0.2.0 pyh9f0ad1d_0 conda-forge
backports 1.0 py_2 conda-forge
backports.functools_lru_cache 1.6.4 pyhd8ed1ab_0 conda-forge
blockfactory 0.8.3 h0e60522_44 robotology
boost-cpp 1.74.0 h9f4b32c_7 conda-forge
bzip2 1.0.8 h8ffe710_4 conda-forge
ca-certificates 2021.10.8 h5b45459_0 conda-forge
colorama 0.4.4 pyh9f0ad1d_0 conda-forge
decorator 5.1.1 pyhd8ed1ab_0 conda-forge
eigen 3.4.0 h2d74725_0 conda-forge
executing 0.8.3 pyhd8ed1ab_0 conda-forge
freeglut 3.2.2 h0e60522_1 conda-forge
freetype 2.10.4 h546665d_1 conda-forge
gsl 2.7 hdfb1a43_0 conda-forge
icu 68.2 h0e60522_0 conda-forge
icub-firmware-shared 1.24.0 h0e60522_44 robotology
icub-main 1.24.0 h4f909f9_44 robotology
icub-models 1.23.0 py39h24871e4_2 conda-forge
idyntree 5.1.0 py39hf30b944_0 conda-forge
intel-openmp 2022.0.0 h57928b3_3663 conda-forge
ipopt 3.14.5 hf6be2e5_0 conda-forge
ipython 8.1.1 py39hcbf5309_0 conda-forge
irrlicht 1.8.5 h739eaf8_2 conda-forge
jasper 2.0.33 h77af90b_0 conda-forge
jbig 2.1 h8d14728_2003 conda-forge
jedi 0.18.1 py39hcbf5309_0 conda-forge
jpeg 9e h8ffe710_0 conda-forge
lcms2 2.12 h2a16943_0 conda-forge
lerc 3.0 h0e60522_0 conda-forge
libblas 3.9.0 13_win64_mkl conda-forge
libcblas 3.9.0 13_win64_mkl conda-forge
libclang 11.1.0 default_h5c34c98_1 conda-forge
libdeflate 1.10 h8ffe710_0 conda-forge
libffi 3.4.2 h8ffe710_5 conda-forge
libflang 5.0.0 h6538335_20180525 conda-forge
libiconv 1.16 he774522_0 conda-forge
libjpeg-turbo 2.1.1 h8ffe710_0 conda-forge
liblapack 3.9.0 13_win64_mkl conda-forge
liblapacke 3.9.0 13_win64_mkl conda-forge
libode 0.16.2 h415ef7b_9 conda-forge
libopencv 4.5.5 py39h606fa8f_5 conda-forge
libosqp 0.6.2 h0e60522_3 conda-forge
libpng 1.6.37 h1d00b33_2 conda-forge
libprotobuf 3.19.4 h7755175_0 conda-forge
libsodium 1.0.18 h8d14728_1 conda-forge
libtiff 4.3.0 hc4061b1_3 conda-forge
libwebp 1.2.2 h57928b3_0 conda-forge
libwebp-base 1.2.2 h8ffe710_1 conda-forge
libxcb 1.13 hcd874cb_1004 conda-forge
libxml2 2.9.12 hf5bbc77_1 conda-forge
libzlib 1.2.11 h8ffe710_1013 conda-forge
llvm-meta 5.0.0 0 conda-forge
lz4-c 1.9.3 h8ffe710_1 conda-forge
m2w64-gcc-libgfortran 5.3.0 6 conda-forge
m2w64-gcc-libs 5.3.0 7 conda-forge
m2w64-gcc-libs-core 5.3.0 7 conda-forge
m2w64-gmp 6.1.0 2 conda-forge
m2w64-libwinpthread-git 5.0.0.4634.697f757 2 conda-forge
matlab-whole-body-simulator 2.0.0 h0e60522_44 robotology
matplotlib-inline 0.1.3 pyhd8ed1ab_0 conda-forge
meshcat-python 0.3.2 pyhd8ed1ab_0 conda-forge
metis 5.1.0 h0e60522_1006 conda-forge
mkl 2022.0.0 h0e2418a_796 conda-forge
msys2-conda-epoch 20160418 1 conda-forge
mumps-seq 5.2.1 hb3f9cae_11 conda-forge
numpy 1.22.3 py39h6331f09_0 conda-forge
openjpeg 2.4.0 hb211442_1 conda-forge
openmp 5.0.0 vc14_1 conda-forge
openssl 1.1.1l h8ffe710_0 conda-forge
osqp-eigen 0.7.0 h0e60522_0 conda-forge
parso 0.8.3 pyhd8ed1ab_0 conda-forge
pickleshare 0.7.5 py_1003 conda-forge
pillow 9.0.1 py39ha53f419_2 conda-forge
pip 22.0.4 pyhd8ed1ab_0 conda-forge
prompt-toolkit 3.0.27 pyha770c72_0 conda-forge
pthread-stubs 0.4 hcd874cb_1001 conda-forge
pure_eval 0.2.2 pyhd8ed1ab_0 conda-forge
pybind11-abi 4 hd8ed1ab_3 conda-forge
pygments 2.11.2 pyhd8ed1ab_0 conda-forge
pyngrok 5.1.0 pyhd8ed1ab_0 conda-forge
python 3.9.10 h9a09f29_2_cpython conda-forge
python_abi 3.9 2_cp39 conda-forge
pyyaml 6.0 py39hb82d6ee_3 conda-forge
pyzmq 22.3.0 py39he46f08e_1 conda-forge
qpoases 3.2.0.1 h0e60522_44 robotology
qt 5.12.9 h5909a2a_4 conda-forge
robot-testing-framework 2.0.1 h0e60522_0 conda-forge
sdl 1.2.52 h0e60522_1 conda-forge
sdl2 2.0.18 h0e60522_0 conda-forge
setuptools 60.10.0 py39hcbf5309_0 conda-forge
six 1.16.0 pyh6c4a22f_0 conda-forge
sqlite 3.37.1 h8ffe710_0 conda-forge
stack_data 0.2.0 pyhd8ed1ab_0 conda-forge
tbb 2021.5.0 h2d74725_0 conda-forge
tinyxml 2.6.2 h2d74725_2 conda-forge
tk 8.6.12 h8ffe710_0 conda-forge
tornado 6.1 py39hb82d6ee_2 conda-forge
traitlets 5.1.1 pyhd8ed1ab_0 conda-forge
tzdata 2022a h191b570_0 conda-forge
u-msgpack-python 2.7.1 pyh9f0ad1d_0 conda-forge
ucrt 10.0.20348.0 h57928b3_0 conda-forge
vc 14.2 hb210afc_6 conda-forge
vs2015_runtime 14.29.30037 h902a5da_6 conda-forge
wb-toolbox 5.5.0 h0e60522_44 robotology
wcwidth 0.2.5 pyh9f0ad1d_2 conda-forge
wheel 0.37.1 pyhd8ed1ab_0 conda-forge
whole-body-controllers 2.5.6 h0e60522_44 robotology
xorg-libxau 1.0.9 hcd874cb_0 conda-forge
xorg-libxdmcp 1.1.3 hcd874cb_0 conda-forge
xz 5.2.5 h62dcd97_1 conda-forge
yaml 0.2.5 h8ffe710_2 conda-forge
yarp 3.6.0 py39h2bb6a00_44 robotology
yarp-matlab-bindings 3.6.1 h0e60522_44 robotology
ycm-cmake-modules 0.13.0 h0e60522_0 conda-forge
zeromq 4.3.4 h0e60522_1 conda-forge
zlib 1.2.11 h8ffe710_1013 conda-forge
zstd 1.5.2 h6255e5f_0 conda-forge
I guess that matlab-whole-body-simulator should install a +mwbs.+Utils directory, but I could not find it anywhere. Any idea on this @gabrielenava @nunoguedelha @VenusPasandi ?
After the fix https://github.com/robotology/whole-body-controllers/pull/145, now the simulation is failing with error:
MATLAB System block 'torqueControlBalancingWithSimu/Robot Visualizer/RobotVisualizer' error occurred when invoking 'setupImpl' method of 'mwbs.Visualizers.robotVisualizer.RobotVisualizer'. The error was thrown from '
'C:\Users\STraversaro\AppData\Local\mambaforge\envs\mwbs\Library\mex\+mwbs\+Visualizers\+robotVisualizer\RobotVisualizer.m' at line 53
'C:\Users\STraversaro\AppData\Local\mambaforge\envs\mwbs\Library\mex\+mwbs\+Visualizers\+robotVisualizer\RobotVisualizer.m' at line 26'.
Caused by:
Unable to resolve the name iDynTreeWrappers.loadReducedModel.
Component: Simulink | Category: Block error
However, this is an error as the whole-body-controllers and/or matlab-whole-body-simulator conda package does not depend on idyntree-matlab-bindings, so it is actually a robotology-superbuild issue. Manually installing:
mamba install -c conda-forge -c robotology idyntree-matlab-bindings
permits to actually run the simulation.
However, running again the simulation fails with:
Build failed because the build file name(s) exceed the Windows limit of 260 characters. Build from a working directory with a shorter path, to allow build files to be created with shorter filenames. "C:\Users\STraversaro\AppData\Local\mambaforge\envs\mwbs\Library\mex\+wbc\examples\+floatingBaseBalancingTorqueControlWithSimulator\app\robots\iCubGazeboV2_5\slprj\_sfprj\torqueControlBalancingWithSimu\_self\sfun\src\c1_torqueControlBalancingWithSimu.cpp"
Component: MATLAB Function | Category: Build error
Build failed because the build file name(s) exceed the Windows limit of 260 characters. Build from a working directory with a shorter path, to allow build files to be created with shorter filenames. "C:\Users\STraversaro\AppData\Local\mambaforge\envs\mwbs\Library\mex\+wbc\examples\+floatingBaseBalancingTorqueControlWithSimulator\app\robots\iCubGazeboV2_5\slprj\_sfprj\torqueControlBalancingWithSimu\_self\sfun\src\c1_torqueControlBalancingWithSimu.cpp"
Component: Simulink | Category: Model error
Instead, this was due to my current working directory. Moving to C:\ worked fine.
I guess that
matlab-whole-body-simulatorshould install a+mwbs.+Utilsdirectory, but I could not find it anywhere. Any idea on this @gabrielenava @nunoguedelha @VenusPasandi ?
Hi @traversaro, Utiles is a class of matlab-whole-body-simulators and it should be installed if you installed a version of matlab-whole-body-simulators which is newer than the commit https://github.com/ami-iit/matlab-whole-body-simulator/commit/6078b4f2c1a874e2b48158998e311a9edf870bd5
I guess that
matlab-whole-body-simulatorshould install a+mwbs.+Utilsdirectory, but I could not find it anywhere. Any idea on this @gabrielenava @nunoguedelha @VenusPasandi ?Hi @traversaro,
Utilesis a class ofmatlab-whole-body-simulatorsand it should be installed if you installed a version ofmatlab-whole-body-simulatorswhich is newer than the commit ami-iit/matlab-whole-body-simulator@6078b4f
I see. This means that we did a release of whole-body-controllers (2.5.6, done in https://github.com/robotology/whole-body-controllers/releases/tag/v2.5.6) without a compatible release of matlab-whole-body-simulator. Probably we can close this issue as soon as we do a release of matlab-whole-body-simulator .
I think it would be nice to implement a github action that runs a test, at least for this Matlab-only controller, and give feedback on the controller status to understand in advance such problems. I don't know if it is possible to design a similar test also for Gazebo-dependent controllers.
There was already the idea of implementing CI in the repo long time ago: https://github.com/robotology/whole-body-controllers/issues/88
@VenusPasandi did something similar for an internal repo, and I think we can do something similar here. Changing the simulation time in https://github.com/robotology/whole-body-controllers/pull/146 from infinite to a finite number was actually meant to go in that direction.
the associated PR is closed with this comment:
https://github.com/robotology/whole-body-controllers/pull/145#issuecomment-1073827480
Hi @traversaro, I think this fix is not required. Actually, the function Rp2H is moved from the class State to Utiles in the commit https://github.com/ami-iit/matlab-whole-body-simulator/commit/6078b4f2c1a874e2b48158998e311a9edf870bd5.
I assume the issue can be closed, @traversaro feel free to reopen it if necessary!